function [m_SinOfPsi_f,m_CosOfPsi_f,m_DeltaX_f,m_DeltaY_f] =  l_CalcEgoVehicleMovement_V(t_EgoYawrate_f,t_VehSpd_f,t_CycleTime_f)

     % t_psi_f        = single(0);
     %  t_radius_f     = single(0);

    if  abs(t_EgoYawrate_f)<10^-7
        m_DeltaX_f   = t_VehSpd_f * t_CycleTime_f;
        m_DeltaY_f   = single(0);
        m_CosOfPsi_f = single(1);
        m_SinOfPsi_f = single(0);
    else
        t_radius_f   = t_VehSpd_f / t_EgoYawrate_f;
        t_psi_f      = t_EgoYawrate_f * t_CycleTime_f;
        m_CosOfPsi_f = cos(t_psi_f);
        m_SinOfPsi_f = sin(t_psi_f);
        m_DeltaX_f   = t_radius_f * m_SinOfPsi_f;
        m_DeltaY_f   = t_radius_f * (1 - m_CosOfPsi_f);
    end
end